BehaviorTreeROS2_tutorial

This repository serves as an additional tutorial for BehaviorTree.ROS2.

How to use this tutorial

(1) Sleep Action (Original Example)

This is one of the original test examples from the official repository, available at BehaviorTree/BehaviorTree.ROS2. It appears that some files were missing in the original example, so I have modified it to ensure we can successfully run at least one of them, named "SleepActionSample".

git clone <repository-url>
colcon build
source install/local_setup.bash

ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml

In another terminal, but within the same file path, execute:

source install/local_setup.bash
ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{ target_tree: SleepActionSample }"

(2) Rotate Turtlesim

This example shows how we can add a new interface with BT and ROS2.

In another terminal, but within the same file path, execute:

source install/local_setup.bash
ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{ target_tree: RotateTurtle }"

Then, you will see the turtle is rotating!

(Optional) Monitoring by Groot2

With Groot2, you can monitor what stage this robot is in: Step 1) Run Groot2 Step 2) In "Monitor Mode", use port 1667 (this value is described in btcpp_ros2_samples/config/sample_bt_executor.yaml) Step 3) Execute this behavior tree example Step 4) Click the connect icon, then you will see a tree like this. (Note: when the behavior tree you executed is finished, you should reconnect this) Orange box means this is currently being executed. Green box means they are sucessfully finished.

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For more information, please refer to the BehaviorTree.ROS2.